In this paper, a sliding mode control (SMC) system based on combining chemical reaction optimization (CRO) algorithm with radial basis functional link net (RBFLN) for an n-link robot manipulator is proposed to achieve the high-precision position tracking. In the proposed scheme, a three-layer RBFLN with powerful approximation ability is employed to approximate the uncertainties, such as parameter variations, friction forces, and external disturbances, and to eliminate chattering phenomenon of the SMC. In order to achieve the expected performance in the initial phase as well as the improved convergence rate, the RBFLN parameters need to be optimized in advance. Therefore, the initial parameters of the RBFLN are optimized offline by CRO algorithm instead of random selection. Furthermore, the RBFLN weights are determined online according to adaptive tuning laws in the sense of a projection algorithm and the Lyapunov stability theorem to guarantee the stability and convergence of the system. The simulation results of three-link de-icing robot manipulator (DIRM) are provided to verify the robustness and effectiveness of the proposed methodology.
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Sliding Mode Control Based on Chemical Reaction Optimization and Radial Basis Functional Link Net for De-Icing Robot Manipulator
Thuy Van Tran,
Thuy Van Tran
College of Electrical and
Information Engineering,
Information Engineering,
Hunan University
,Changsha, Hunan 410082
, China
Faculty of Electrical Engineering,
e-mail: tranthuyvan.haui@gmail.com
Hanoi University of Industry
,Hanoi 10000, Vietnam
e-mail: tranthuyvan.haui@gmail.com
Search for other works by this author on:
YaoNan Wang,
YaoNan Wang
Professor
College of Electrical and
Information Engineering,
e-mail: yaonan@hnu.edu.cn
College of Electrical and
Information Engineering,
Hunan University
,Changsha, Hunan 410082
, China
e-mail: yaonan@hnu.edu.cn
Search for other works by this author on:
HungLinh Ao,
HungLinh Ao
Institute for Computational Science
and Faculty of Civil Engineering,
and Faculty of Civil Engineering,
Ton Duc Thang University
Faculty of Mechanical Engineering,
e-mail: aohunglinh@tdt.edu.vn
Industrial University of Hochiminh City
,Hochiminh City 70000, Vietnam
e-mail: aohunglinh@tdt.edu.vn
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Tung Khac Truong
Tung Khac Truong
Institute for Computational Science
and Faculty of Civil Engineering,
and Faculty of Civil Engineering,
Ton Duc Thang University
Faculty of Information Technology,
e-mail: truongkhactung@tdt.edu.vn
Industrial University of Hochiminh City
,Hochiminh City 70000, Vietnam
e-mail: truongkhactung@tdt.edu.vn
Search for other works by this author on:
Thuy Van Tran
College of Electrical and
Information Engineering,
Information Engineering,
Hunan University
,Changsha, Hunan 410082
, China
Faculty of Electrical Engineering,
e-mail: tranthuyvan.haui@gmail.com
Hanoi University of Industry
,Hanoi 10000, Vietnam
e-mail: tranthuyvan.haui@gmail.com
YaoNan Wang
Professor
College of Electrical and
Information Engineering,
e-mail: yaonan@hnu.edu.cn
College of Electrical and
Information Engineering,
Hunan University
,Changsha, Hunan 410082
, China
e-mail: yaonan@hnu.edu.cn
HungLinh Ao
Institute for Computational Science
and Faculty of Civil Engineering,
and Faculty of Civil Engineering,
Ton Duc Thang University
Faculty of Mechanical Engineering,
e-mail: aohunglinh@tdt.edu.vn
Industrial University of Hochiminh City
,Hochiminh City 70000, Vietnam
e-mail: aohunglinh@tdt.edu.vn
Tung Khac Truong
Institute for Computational Science
and Faculty of Civil Engineering,
and Faculty of Civil Engineering,
Ton Duc Thang University
Faculty of Information Technology,
e-mail: truongkhactung@tdt.edu.vn
Industrial University of Hochiminh City
,Hochiminh City 70000, Vietnam
e-mail: truongkhactung@tdt.edu.vn
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received April 17, 2014; final manuscript received October 20, 2014; published online December 10, 2014. Assoc. Editor: Jwu-Sheng Hu.
J. Dyn. Sys., Meas., Control. May 2015, 137(5): 051009 (16 pages)
Published Online: May 1, 2015
Article history
Received:
April 17, 2014
Revision Received:
October 20, 2014
Online:
December 10, 2014
Citation
Van Tran, T., Wang, Y., Ao, H., and Khac Truong, T. (May 1, 2015). "Sliding Mode Control Based on Chemical Reaction Optimization and Radial Basis Functional Link Net for De-Icing Robot Manipulator." ASME. J. Dyn. Sys., Meas., Control. May 2015; 137(5): 051009. https://doi.org/10.1115/1.4028886
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